128 lines
2.9 KiB
C
128 lines
2.9 KiB
C
/*
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* Copyright (c) 2019 Vestas Wind Systems A/S
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#ifndef ZEPHYR_MODULES_CANOPENNODE_CO_DRIVER_H
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#define ZEPHYR_MODULES_CANOPENNODE_CO_DRIVER_H
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/*
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* Zephyr RTOS CAN driver interface and configuration for CANopenNode
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* CANopen protocol stack.
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*
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* See CANopenNode/stack/drvTemplate/CO_driver.h for API description.
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*/
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include <zephyr/kernel.h>
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#include <zephyr/types.h>
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#include <zephyr/device.h>
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#include <zephyr/toolchain.h>
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#include <zephyr/dsp/types.h> /* float32_t, float64_t */
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/* Use static variables instead of calloc() */
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#define CO_USE_GLOBALS
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/* Use Zephyr provided crc16 implementation */
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#define CO_USE_OWN_CRC16
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/* Use SDO buffer size from Kconfig */
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#define CO_SDO_BUFFER_SIZE CONFIG_CANOPENNODE_SDO_BUFFER_SIZE
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/* Use trace buffer size from Kconfig */
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#define CO_TRACE_BUFFER_SIZE_FIXED CONFIG_CANOPENNODE_TRACE_BUFFER_SIZE
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#ifdef CONFIG_CANOPENNODE_LEDS
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#define CO_USE_LEDS 1
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#endif
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#ifdef CONFIG_LITTLE_ENDIAN
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#define CO_LITTLE_ENDIAN
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#else
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#define CO_BIG_ENDIAN
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#endif
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typedef bool bool_t;
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typedef char char_t;
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typedef unsigned char oChar_t;
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typedef unsigned char domain_t;
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BUILD_ASSERT(sizeof(float32_t) >= 4);
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BUILD_ASSERT(sizeof(float64_t) >= 8);
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typedef struct canopen_rx_msg {
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uint8_t data[8];
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uint16_t ident;
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uint8_t DLC;
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} CO_CANrxMsg_t;
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typedef void (*CO_CANrxBufferCallback_t)(void *object,
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const CO_CANrxMsg_t *message);
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typedef struct canopen_rx {
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int filter_id;
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void *object;
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CO_CANrxBufferCallback_t pFunct;
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uint16_t ident;
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uint16_t mask;
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#ifdef CONFIG_CAN_ACCEPT_RTR
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bool rtr;
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#endif /* CONFIG_CAN_ACCEPT_RTR */
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} CO_CANrx_t;
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typedef struct canopen_tx {
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uint8_t data[8];
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uint16_t ident;
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uint8_t DLC;
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bool_t rtr : 1;
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bool_t bufferFull : 1;
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bool_t syncFlag : 1;
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} CO_CANtx_t;
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typedef struct canopen_module {
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const struct device *dev;
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CO_CANrx_t *rx_array;
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CO_CANtx_t *tx_array;
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uint16_t rx_size;
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uint16_t tx_size;
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uint32_t errors;
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void *em;
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bool_t configured : 1;
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bool_t CANnormal : 1;
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bool_t first_tx_msg : 1;
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} CO_CANmodule_t;
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void canopen_send_lock(void);
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void canopen_send_unlock(void);
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#define CO_LOCK_CAN_SEND() canopen_send_lock()
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#define CO_UNLOCK_CAN_SEND() canopen_send_unlock()
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void canopen_emcy_lock(void);
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void canopen_emcy_unlock(void);
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#define CO_LOCK_EMCY() canopen_emcy_lock()
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#define CO_UNLOCK_EMCY() canopen_emcy_unlock()
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void canopen_od_lock(void);
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void canopen_od_unlock(void);
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#define CO_LOCK_OD() canopen_od_lock()
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#define CO_UNLOCK_OD() canopen_od_unlock()
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/*
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* CANopenNode RX callbacks run in interrupt context, no memory
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* barrier needed.
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*/
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#define CANrxMemoryBarrier()
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#define IS_CANrxNew(rxNew) ((uintptr_t)rxNew)
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#define SET_CANrxNew(rxNew) { CANrxMemoryBarrier(); rxNew = (void *)1L; }
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#define CLEAR_CANrxNew(rxNew) { CANrxMemoryBarrier(); rxNew = (void *)0L; }
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#ifdef __cplusplus
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}
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#endif
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#endif /* ZEPHYR_MODULES_CANOPENNODE_CO_DRIVER_H */
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